#ifndef grid_map_h
#define grid_map_h

#include <iostream>
#include <vector>
#include <algorithm>
#include <deque>
#include <array>

class GridMap 
{
private:
    GridMap(std::vector<std::vector<double>>& polygonVertices, std::vector<std::vector<double>>& pointInsidePolygon);

    void create_borders_grid_map(std::vector<std::vector<double>>& polygon_center);
    std::vector<std::vector<int>> grid2meters(std::vector<std::vector<double>>& pose_grid);
    std::vector<std::vector<int>> add_obstacles_to_grid_map(std::vector<std::vector<std::vector<double>>>& obstacles);
    std::vector<std::vector<int>> meters2grid(std::vector<std::vector<double>>& pose_m);
public:

};

#endif